Runtime Learning of Quadruped Robots in Wild Environments Yihao Cai 1, Y anbing Mao 1, Lui Sha 2, Hongpeng Cao 3, and Marco Caccamo 3 This paper presents a runtime learning framework for quadruped robots, enabling them to learn and adapt safely in dynamic wild environments. The core novelty of this framework lies in two interactive and complementary components within the control module: the high-performance (HP)-Student and the high-assurance (HA)-Teacher. HP-Student is a deep reinforcement learning (DRL) agent that engages in self-learning and teaching-to-learn to develop a safe and high-performance action policy. HA-Teacher is a simplified yet verifiable physics-model-based controller, with the role of teaching HP-Student about safety while providing a backup for the robot's safe locomotion. HA-Teacher is innovative due to its real-time physics model, real-time action policy, and real-time control goals, all tailored to respond effectively to real-time wild environments, ensuring safety. The framework also includes a coordinator who effectively manages the interaction between HP-Student and HA-Teacher. Experiments involving a Unitree Go2 robot in Nvidia Isaac Gym and comparisons with state-of-the-art safe DRLs demonstrate the effectiveness of the proposed runtime learning framework. I NTRODUCTION Quadruped robots have become a promising solution for navigating challenging wild environments, such as forests, disaster zones, and mountainous regions [1], [2].

Recent studies have shown impressive performance in Lip-to-speech synthesis that aims to reconstruct speech from visual information alone. However, they have been suffering from synthesizing accurate speech in the wild, due to insufficient supervision for guiding the model to infer the correct content. Distinct from the previous methods, in this paper, we develop a powerful Lip2Speech method that can reconstruct speech with correct contents from the input lip movements, even in a wild environment. To this end, we design multi-task learning that guides the model using multimodal supervision, i.e., text and audio, to complement the insufficient word representations of acoustic feature reconstruction loss. Thus, the proposed framework brings the advantage of synthesizing speech containing the right content of multiple speakers with unconstrained sentences. We verify the effectiveness of the proposed method using LRS2, LRS3, and LRW datasets.